Enable MetaDrive support on macOS

metadrive/component/block/base_block.py

@@ -79,7 +79,7 @@ def __init__(
             self.side_texture.setWrapU(Texture.WM_repeat)
             self.side_texture.setWrapV(Texture.WM_repeat)
             self.side_texture.setMinfilter(SamplerState.FT_linear_mipmap_linear)
-            self.side_texture.setAnisotropicDegree(8)
+            self.side_texture.setAnisotropicDegree(1)
             self.side_normal = self.loader.loadTexture(AssetLoader.file_path("textures", "sidewalk", "normal.png"))
             # self.side_normal.set_format(Texture.F_srgb)
             self.side_normal.setWrapU(Texture.WM_repeat)

metadrive/component/sensors/rgb_camera.py

@@ -6,6 +6,7 @@
 from metadrive.constants import CamMask
 from metadrive.constants import Semantics, CameraTagStateKey
 from metadrive.third_party.simplepbr import _load_shader_str
+from metadrive.utils.utils import is_mac
 
 
 class RGBCamera(BaseCamera):
@@ -41,13 +42,18 @@ def _setup_effect(self):
         fbprops.float_color = True
         fbprops.set_rgba_bits(16, 16, 16, 16)
         fbprops.set_depth_bits(24)
-        fbprops.set_multisamples(16)
+        if is_mac():
+            fbprops.set_multisamples(4)
+        else:
+            fbprops.set_multisamples(16)
         self.scene_tex = p3d.Texture()
         self.scene_tex.set_format(p3d.Texture.F_rgba16)
         self.scene_tex.set_component_type(p3d.Texture.T_float)
         self.tonemap_quad = self.manager.render_scene_into(colortex=self.scene_tex, fbprops=fbprops)
         #
         defines = {}
+        if is_mac():
+            defines["USE_330"] = True
         #
         post_vert_str = _load_shader_str('post.vert', defines)
         post_frag_str = _load_shader_str('tonemap.frag', defines)

metadrive/component/sensors/semantic_camera.py

@@ -1,5 +1,5 @@
-from panda3d.core import RenderState, LightAttrib, ColorAttrib, ShaderAttrib, TextureAttrib, FrameBufferProperties
-
+from panda3d.core import RenderState, LightAttrib, ColorAttrib, ShaderAttrib, TextureAttrib, FrameBufferProperties, LColor, MaterialAttrib, Material
+from metadrive.utils.utils import is_mac
 from metadrive.component.sensors.base_camera import BaseCamera
 from metadrive.constants import CamMask
 from metadrive.constants import Semantics, CameraTagStateKey
@@ -14,7 +14,7 @@ def __init__(self, width, height, engine, *, cuda=False):
         buffer_props.set_rgba_bits(8, 8, 8, 8)
         buffer_props.set_depth_bits(8)
         buffer_props.set_force_hardware(True)
-        buffer_props.set_multisamples(16)
+        buffer_props.set_multisamples(4 if is_mac() else 16)
         buffer_props.set_srgb_color(False)
         buffer_props.set_stereo(False)
         buffer_props.set_stencil_bits(0)
@@ -39,13 +39,20 @@ def _setup_effect(self):
             else:
 
                 if label == Semantics.PEDESTRIAN.label and not self.engine.global_config.get("use_bounding_box", False):
-                    # PZH: This is a workaround fix to make pedestrians animated.
+                    # rendering pedestrian with glasses, shoes, etc. [Synbody]
+                    base_color = LColor(c[0] / 255, c[1] / 255, c[2] / 255, 1)
+                    material = Material()
+                    material.setDiffuse((base_color[0], base_color[1], base_color[2], 1))
+                    material.setSpecular((0, 0, 0, 1))
+                    material.setShininess(0)
+
                     cam.setTagState(
                         label,
                         RenderState.make(
                             # ShaderAttrib.makeOff(),
                             LightAttrib.makeAllOff(),
                             TextureAttrib.makeOff(),
+                            MaterialAttrib.make(material),
                             ColorAttrib.makeFlat((c[0] / 255, c[1] / 255, c[2] / 255, 1)),
                             1
                         )

metadrive/engine/core/engine_core.py

@@ -83,8 +83,6 @@ class EngineCore(ShowBase.ShowBase):
     DEBUG = False
     global_config = None  # global config can exist before engine initialization
     loadPrcFileData("", "window-title {}".format(EDITION))
-    loadPrcFileData("", "framebuffer-multisample 1")
-    loadPrcFileData("", "multisamples 8")
     loadPrcFileData("", "bullet-filter-algorithm groups-mask")
     loadPrcFileData("", "audio-library-name null")
     loadPrcFileData("", "model-cache-compressed-textures 1")
@@ -95,6 +93,15 @@ class EngineCore(ShowBase.ShowBase):
     loadPrcFileData("", "garbage-collect-states 0")
     loadPrcFileData("", "print-pipe-types 0")
 
+    if is_mac():
+        # latest macOS supported openGL version
+        loadPrcFileData("", "gl-version 4 1")
+        loadPrcFileData("", "framebuffer-multisample 1")
+        loadPrcFileData("", "multisamples 4")
+    else:
+        loadPrcFileData("", "framebuffer-multisample 1")
+        loadPrcFileData("", "multisamples 8")
+
     # loadPrcFileData("", "allow-incomplete-render #t")
     # loadPrcFileData("", "# even-animation #t")
 
@@ -160,9 +167,6 @@ def __init__(self, global_config):
                     # Disable useless camera capturing in none mode
                     self.global_config["show_interface"] = False
 
-        if is_mac() and (self.mode == RENDER_MODE_OFFSCREEN):  # Mac don't support offscreen rendering
-            self.mode = RENDER_MODE_ONSCREEN
-
         loadPrcFileData("", "win-size {} {}".format(*self.global_config["window_size"]))
 
         if self.use_render_pipeline:
@@ -296,12 +300,19 @@ def __init__(self, global_config):
                 if self.global_config["daytime"] is not None:
                     self.render_pipeline.daytime_mgr.time = self.global_config["daytime"]
             else:
-                self.pbrpipe = init(
-                    msaa_samples=16,
-                    use_hardware_skinning=True,
-                    # use_normal_maps=True,
-                    use_330=False
-                )
+                if is_mac():
+                    self.pbrpipe = init(
+                        msaa_samples=4,
+                        # use_hardware_skinning=True,
+                        use_330=True
+                    )
+                else:
+                    self.pbrpipe = init(
+                        msaa_samples=16,
+                        use_hardware_skinning=True,
+                        # use_normal_maps=True,
+                        use_330=False
+                    )
 
                 self.sky_box = SkyBox(not self.global_config["show_skybox"])
                 self.sky_box.attach_to_world(self.render, self.physics_world)

metadrive/engine/core/sky_box.py

@@ -30,7 +30,7 @@ def __init__(self, pure_background: bool = False):
         skybox_texture.set_magfilter(SamplerState.FT_linear)
         skybox_texture.set_wrap_u(SamplerState.WM_repeat)
         skybox_texture.set_wrap_v(SamplerState.WM_mirror)
-        skybox_texture.set_anisotropic_degree(16)
+        skybox_texture.set_anisotropic_degree(1)
         skybox.set_texture(skybox_texture)
 
         gles = ConfigVariableString("load-display").getValue()
@@ -40,12 +40,8 @@ def __init__(self, pure_background: bool = False):
                 AssetLoader.file_path("../shaders", "skybox_gles.frag.glsl")
             )
         else:
-            if is_mac():
-                vert_file = "skybox_mac.vert.glsl"
-                frag_file = "skybox_mac.frag.glsl"
-            else:
-                vert_file = "skybox.vert.glsl"
-                frag_file = "skybox.frag.glsl"
+            vert_file = "skybox.vert.glsl"
+            frag_file = "skybox.frag.glsl"
             skybox_shader = Shader.load(
                 Shader.SL_GLSL, AssetLoader.file_path("../shaders", vert_file),
                 AssetLoader.file_path("../shaders", frag_file)

metadrive/engine/core/terrain.py

@@ -442,7 +442,7 @@ def _load_mesh_terrain_textures(self, engine, anisotropic_degree=16, filter_type
             tex.set_wrap_v(v_wrap)
             tex.setMinfilter(filter_type)
             tex.setMagfilter(filter_type)
-            tex.setAnisotropicDegree(anisotropic_degree)
+            tex.setAnisotropicDegree(1)
 
         # rock
         self.rock_tex = self.loader.loadTexture(
@@ -464,7 +464,7 @@ def _load_mesh_terrain_textures(self, engine, anisotropic_degree=16, filter_type
             tex.set_wrap_v(v_wrap)
             tex.setMinfilter(filter_type)
             tex.setMagfilter(filter_type)
-            tex.setAnisotropicDegree(anisotropic_degree)
+            tex.setAnisotropicDegree(1)
 
         # # sidewalk
         # self.side_tex = self.loader.loadTexture(AssetLoader.file_path("textures", "sidewalk", "color.png"))
@@ -478,7 +478,7 @@ def _load_mesh_terrain_textures(self, engine, anisotropic_degree=16, filter_type
         #     tex.set_wrap_v(v_wrap)
         #     tex.setMinfilter(filter_type)
         #     tex.setMagfilter(filter_type)
-        #     tex.setAnisotropicDegree(anisotropic_degree)
+        #     tex.setAnisotropicDegree(1)
 
         # Road surface
         # self.road_texture = self.loader.loadTexture(AssetLoader.file_path("textures", "sci", "new_color.png"))
@@ -496,10 +496,10 @@ def _load_mesh_terrain_textures(self, engine, anisotropic_degree=16, filter_type
             tex.set_wrap_v(v_wrap)
             tex.setMinfilter(filter_type)
             tex.setMagfilter(filter_type)
-            tex.setAnisotropicDegree(anisotropic_degree)
+            tex.setAnisotropicDegree(1)
         # self.road_texture_displacement = self.loader.loadTexture(AssetLoader.file_path("textures", "sci", "normal.jpg"))
         # self.road_texture.setMinfilter(minfilter)
-        # self.road_texture.setAnisotropicDegree(anisotropic_degree)
+        # self.road_texture.setAnisotropicDegree(1)
 
         # lane line
         white_lane_line = PNMImage(1024, 1024, 4)

metadrive/shaders/terrain.frag.glsl

@@ -201,7 +201,7 @@ void main() {
         float radius = 0.001; // Sample radius
         for(int x = -1; x <= 1; x++) {
             for(int y = -1; y <= 1; y++) {
-                float depth_sample = texture2D(PSSMShadowAtlas, projected_coord.xy + vec2(x, y) * radius).r;
+                float depth_sample = texture(PSSMShadowAtlas, projected_coord.xy + vec2(x, y) * radius).r;
                 shadow_factor += step(ref_depth, depth_sample);
         }
         }

metadrive/tests/vis_functionality/vis_rgb_cam.py

@@ -19,7 +19,7 @@
             },
             "interface_panel": ["dashboard", "rgb_camera"],
             "manual_control": True,
-            "use_render": True,
+            "use_render": False,
             "image_observation": True,  # it is a switch telling metadrive to use rgb as observation
             "norm_pixel": True,  # clip rgb to range(0,1) instead of (0, 255)
             # "pstats": True,

metadrive/third_party/simplepbr/__init__.py

@@ -265,7 +265,7 @@ def _setup_tonemapping(self):
 
         fbprops = p3d.FrameBufferProperties()
         fbprops.float_color = True
-        fbprops.set_rgba_bits(16, 16, 16, 16)
+        # fbprops.set_rgba_bits(16, 16, 16, 16)
         fbprops.set_depth_bits(24)
         fbprops.set_multisamples(self.msaa_samples)
         scene_tex = p3d.Texture()

metadrive/third_party/simplepbr/shaders/simplepbr.frag.glsl

@@ -125,15 +125,15 @@ float diffuse_function(FunctionParamters func_params) {
 }
 
 void main() {
-    vec4 metal_rough = texture2D(p3d_TextureMetalRoughness, v_texcoord);
+    vec4 metal_rough = texture(p3d_TextureMetalRoughness, v_texcoord);
     float metallic = clamp(p3d_Material.metallic * metal_rough.b, 0.0, 1.0);
     float perceptual_roughness = clamp(p3d_Material.roughness * metal_rough.g,  0.0, 1.0);
     float alpha_roughness = perceptual_roughness * perceptual_roughness;
-    vec4 base_color = p3d_Material.baseColor * v_color * p3d_ColorScale * texture2D(p3d_TextureBaseColor, v_texcoord);
+    vec4 base_color = p3d_Material.baseColor * v_color * p3d_ColorScale * texture(p3d_TextureBaseColor, v_texcoord);
     vec3 diffuse_color = (base_color.rgb * (vec3(1.0) - F0)) * (1.0 - metallic);
     vec3 spec_color = mix(F0, base_color.rgb, metallic);
 #ifdef USE_NORMAL_MAP
-    vec3 n = normalize(v_tbn * (2.0 * texture2D(p3d_TextureNormal, v_texcoord).rgb - 1.0));
+    vec3 n = normalize(v_tbn * (2.0 * texture(p3d_TextureNormal, v_texcoord).rgb - 1.0));
 #else
     vec3 n = normalize(v_tbn[2]);
 #endif
@@ -146,7 +146,7 @@ void main() {
 #endif
 
 #ifdef USE_EMISSION_MAP
-    vec3 emission = p3d_Material.emission.rgb * texture2D(p3d_TextureEmission, v_texcoord).rgb;
+    vec3 emission = p3d_Material.emission.rgb * texture(p3d_TextureEmission, v_texcoord).rgb;
 #else
     vec3 emission = vec3(0.0);
 #endif
@@ -207,7 +207,7 @@ void main() {
                 float radius = 0.001; // Sample radius
                 for(int x = -1; x <= 1; x++) {
                     for(int y = -1; y <= 1; y++) {
-                        float depth_sample = texture2D(PSSMShadowAtlas, projected_coord.xy + vec2(x, y) * radius).r;
+                        float depth_sample = texture(PSSMShadowAtlas, projected_coord.xy + vec2(x, y) * radius).r;
                         shadow_factor += step(ref_depth, depth_sample);
                 }
                 }

metadrive/third_party/simplepbr/shaders/tonemap.frag.glsl

@@ -1,24 +1,18 @@
-#version 120
+#version 330
 
 uniform sampler2D tex;
 uniform float exposure;
 
 varying vec2 v_texcoord;
 
-#ifdef USE_330
 out vec4 o_color;
-#endif
 
 void main() {
-    vec3 color = texture2D(tex, v_texcoord).rgb;
+    vec3 color = texture(tex, v_texcoord).rgb;
 
     color *= exposure;
     color = max(vec3(0.0), color - vec3(0.004));
     color = (color * (vec3(6.2) * color + vec3(0.5))) / (color * (vec3(6.2) * color + vec3(1.7)) + vec3(0.06));
 
-#ifdef USE_330
     o_color = vec4(color, 1.0);
-#else
-    gl_FragColor = vec4(color, 1.0);
-#endif
-}
+}